Comprehensive Approach to Design Robust Tracking Controllers for Mechatronic Processes

摘要

This paper presents a comprehensive approach, which allows one to design in a unified way robust smooth proportional-integral-derivative (PID) or proportional-second order derivative (PD2)-type control laws for broad classes of uncertain nonlinear multi-input multi-output (MIMO) systems, including mechatronic and transportation ones, subject to bounded disturbances and noises. The proposed controllers are used to track a reference signal with a bounded third derivative, yielding a tracking error norm less than a prescribed value. The proposed control laws are simple to design and implement and have various engineering applications. Two cases studies are considered: the first one concerns mechatronic processes, and the second one deals with a transportation/assembling robot.